| 多连杆柔性关节机械臂的神经滑模控制 |
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| 引用本文： | 庄未,刘晓平.多连杆柔性关节机械臂的神经滑模控制[J].系统仿真学报,2011,23(10):2098-2102. |
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| 作者姓名： | 庄未 刘晓平 |
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| 作者单位： | 北京邮电大学自动化学院,北京,100876 |
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| 基金项目： | 留学归国人员教学、科研建设项目; 国家高技术研究发展计划(863计划)项目(2006AA04Z243) |
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| 摘 要： | 钟对多连杆柔性关节机械臂，设计了基于高斯径向基函数神经网络（GRBFNN）的滑模控制器，该控制器利用神经网络的逼近能力，将各关节的切换函数作为网络的输入，控制器完全由连续的RBF神经网络实现。利用该控制器与线性二次型跟踪器以及传统滑模控制器对三连杆柔性关节机械臂进行轨迹跟踪控制仿真。仿真结果表明：线性二次型跟踪器具有一定传输时延，滑模控制器跟踪轨迹有明显抖振，而神经滑模控制器取消了切换项，消减了抖振，具有良好的跟踪效果和稳定性。
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| 关 键 词： | 机器人 柔性关节 线性二次型 滑模控制 RBF神经网络 |
Neural Sliding Mode Control of Multiple-link Flexible Joint Manipulator |
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| ZHUANG Wei,LIU Xiao-ping.Neural Sliding Mode Control of Multiple-link Flexible Joint Manipulator[J].Journal of System Simulation,2011,23(10):2098-2102. |
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| Authors: | ZHUANG Wei LIU Xiao-ping |
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| Institution: | ZHUANG Wei,LIU Xiao-ping(School of Automation,Beijing University of Posts and Telecommunications,Beijing 100876,China) |
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| Abstract: | A sliding mode controller for multiple-link flexible joint manipulator was proposed based on Gaussian Radial Basis Function Neural Networks(GRBFNN).The switching function of each joint was regarded as the input of RBFNN,and the proposed controller was realized by continuous RBF neural network using its approximation ability.The simulation of tracking control of three-link flexible joint manipulator was done with the proposed controller,the linear quadratic regulator(LQR) tracker and traditional sliding mode... |
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| Keywords: | robot flexible joint linear quadratic form sliding mode control RBF neural network |
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